Design and Performance Studies of Model-Based Variable-Structure Adaptive Controllers for Industrial Manipulators

1992 ◽  
Vol 206 (4) ◽  
pp. 245-262 ◽  
Author(s):  
S K Tso ◽  
P L Law
Keyword(s):  
Performance Studies ◽  
Variable Structure ◽  
Adaptive Controllers ◽  
Model Based ◽  
Trade Offs ◽  
Control Scheme ◽  
Industrial Manipulators ◽  
And Performance ◽  
Distinguishing Features ◽  
Adaptive Control Scheme

A model-based variable-structure adaptive control scheme recently proposed for the trajectory tracking of robot manipulators has shown significant promise. By actual implementation with a commercial manipulator, the practical means for improvement are examined, the design trade-offs are systematically explored, and the distinguishing features of the performance achievable in the improved version are brought out and compared with those of earlier schemes.

A Decentralized Neuro-Adaptive Control Scheme to Suppress Chaotic/Hyperchaotic Dynamics of Smart Valves Network

2018 ◽  
Vol 13 (5) ◽  
Author(s):  
Peiman Naseradinmousavi ◽  
Hashem Ashrafiuon ◽  
Mostafa Bagheri
Keyword(s):  
Initial Conditions ◽  
Adaptive Method ◽  
Critical Parameters ◽  
Computationally Efficient ◽  
Adaptive Scheme ◽  
Computational Burden ◽  
Trade Offs ◽  
Control Scheme ◽  
Practical Feasibility ◽  
Adaptive Control Scheme

In this effort, we utilize a decentralized neuro-adaptive scheme in extinguishing both the chaotic and hyperchaotic dynamics of the so-called “Smart Valves” network. In particular, a network of two dynamically interconnected bidirectional solenoid actuated butterfly valves undergoes the harmful chaotic/hyperchaotic dynamics subject to some initial conditions and critical parameters. Crucial trade-offs, including robustness, computational burden, and practical feasibility of the control scheme, are thoroughly investigated. The advantages and shortcomings of the decentralized neuro-adaptive method are compared with those of the direct decentralized adaptive one to yield a computationally efficient, practically feasible, and robust scheme in the presence of the coupled harmful responses.

scholarly journals Composite adaptive control of a robotic joint for passive deployment applications

2002 ◽  
Vol 216 (3) ◽  
pp. 275-289
Author(s):  
A V C Reedman ◽  
K Bouazza-Marouf
Keyword(s):  
Adaptive Control ◽  
Control Strategies ◽  
Adaptive Controllers ◽  
Control Scheme ◽  
And Control ◽  
The Mathematical Model ◽  
Composite Adaptive Control ◽  
Single Worm ◽  
Adaptive Control Scheme ◽  
Computed Torque

A composite adaptive control scheme for the control of an actively constrained revolute joint with backlash cancellation is presented in this paper. The drive mechanism consists of two motor-driven worms coupled to a single worm wheel. The mathematical model and control strategies are reviewed. This is followed by the derivation of the composite adaptive controllers. Simulation and experimental results show that the composite adaptive control scheme gives an equivalent performance to a computed-torque algorithm without compromising the mechanism's ability to cancel backlash.

Sign in / Sign up

Export Citation Format

Share Document